TRACER AgileX Robotics Team Autonomous Mobile Robot
Tshooj lus no muaj cov ntaub ntawv tseem ceeb ntawm kev nyab xeeb, ua ntej lub tshuab hluav taws xob tau siv rau thawj zaug, txhua tus neeg lossis lub koom haum yuav tsum nyeem thiab nkag siab cov ntaub ntawv no ua ntej siv lub cuab yeej. Yog tias koj muaj lus nug txog kev siv, thov hu rau peb ntawm support@agilex.ai. Thov ua raws thiab ua raws li tag nrho cov lus qhia thiab cov lus qhia nyob rau hauv tshooj ntawm phau ntawv no, uas tseem ceeb heev. Kev saib xyuas tshwj xeeb yuav tsum tau them rau cov ntawv hais txog cov cim ceeb toom.
Cov ntaub ntawv kev nyab xeeb
Cov ntaub ntawv hauv phau ntawv no tsis suav nrog kev tsim, kev teeb tsa thiab kev ua haujlwm ntawm daim ntawv thov neeg hlau ua tiav, thiab tsis suav nrog txhua yam khoom siv peripheral uas yuav cuam tshuam rau kev nyab xeeb ntawm kev ua tiav. Kev tsim thiab siv cov txheej txheem tiav yuav tsum ua raws li cov kev cai ntawm kev nyab xeeb uas tau tsim nyob rau hauv cov qauv thiab cov kev cai ntawm lub teb chaws uas cov neeg hlau raug teeb tsa. TRACER integrators thiab cov neeg siv khoom kawg muaj lub luag haujlwm los xyuas kom meej ua raws li cov cai thiab cov kev cai ntawm cov teb chaws uas muaj feem xyuam, thiab xyuas kom meej tias tsis muaj kev phom sij loj hauv daim ntawv thov neeg hlau ua tiav. Qhov no suav nrog tab sis tsis txwv rau cov hauv qab no
Kev ua tau zoo thiab lub luag haujlwm
- Ua qhov kev ntsuam xyuas txaus ntshai ntawm cov neeg hlau ua tiav.
- Txuas cov cuab yeej kev nyab xeeb ntxiv ntawm lwm cov tshuab uas tau teev tseg los ntawm kev ntsuas kev pheej hmoo ua ke.
- Paub meej tias kev tsim thiab kev teeb tsa ntawm tag nrho cov neeg hlau system cov khoom siv peripheral, suav nrog software thiab kho vajtse, yog qhov tseeb.
- Cov neeg hlau no tsis muaj ib qho kev ua tiav ntawm cov neeg hlau txawb, suav nrog tab sis tsis txwv rau kev tsis siv neeg tiv thaiv kev sib tsoo, tiv thaiv kev poob, kev ceeb toom txog kev lom neeg thiab lwm yam kev nyab xeeb muaj feem xyuam. Cov haujlwm muaj feem cuam tshuam xav kom cov neeg sib koom ua ke thiab cov neeg siv khoom kawg ua raws li cov kev cai cuam tshuam thiab cov cai thiab cov kev cai ua tau rau kev ntsuas kev nyab xeeb. Txhawm rau kom ntseeg tau tias cov neeg tsim khoom tsim tsis muaj kev phom sij loj thiab muaj kev nyab xeeb hauv kev siv tiag tiag.
- Sau tag nrho cov ntaub ntawv hauv cov txheej txheem file: suav nrog kev ntsuas kev pheej hmoo thiab phau ntawv no.
Environmental Considerations
- Rau thawj zaug siv, thov nyeem phau ntawv no ua tib zoo kom nkag siab txog cov ntsiab lus ntawm kev khiav hauj lwm thiab kev khiav hauj lwm specification.
- Rau kev tswj chaw taws teeb, xaiv thaj chaw qhib siv TRACER, vim tias TRACER tsis tau nruab nrog ib qho tsis siv neeg tiv thaiv kev tiv thaiv.
- Siv TRACER ib txwm nyob rau hauv -10 ℃ ~ 45 ℃ ambient kub.
- Yog tias TRACER tsis teeb tsa nrog kev tiv thaiv IP cais, nws cov dej thiab plua plav tiv thaiv yuav yog IP22 nkaus xwb.
Pre-work checklist
- Xyuas kom txhua lub cuab yeej muaj lub zog txaus.
- Nco ntsoov tias Bunker tsis muaj qhov tsis xws luag.
- Xyuas seb lub roj teeb tswj chaw taws teeb puas muaj lub zog txaus.
- Thaum siv, xyuas kom tseeb tias qhov kev hloov pauv thaum muaj xwm ceev tau tso tawm.
Kev ua haujlwm
- Hauv kev tswj chaw taws teeb, xyuas kom thaj chaw ib puag ncig yog qhov dav.
- Ua cov chaw taws teeb tswj nyob rau hauv qhov ntau ntawm visibility.
- Qhov siab tshaj plaws ntawm TRACER yog 100KG. Thaum siv, xyuas kom meej tias lub load tsis tshaj 100KG.
- Thaum txhim kho qhov txuas sab nraud ntawm TRACER, paub meej tias txoj haujlwm ntawm qhov nruab nrab ntawm qhov loj ntawm qhov txuas ntxiv thiab xyuas kom meej tias nws nyob ntawm qhov chaw ntawm kev sib hloov.
- Thov them lub sijhawm thaum lub cuab yeej voltage yog qis dua 22.5V.
- Thaum TRACER muaj qhov tsis xws luag, thov tso tseg tam sim ntawd kom tsis txhob muaj kev puas tsuaj ntxiv.
- Thaum TRACER muaj qhov tsis xws luag, thov hu rau tus kws tshaj lij los daws nws, tsis txhob ua qhov tsis xws luag ntawm koj tus kheej.
- Ib txwm siv SCOUT MINI (OMNI) nyob rau hauv ib puag ncig nrog kev tiv thaiv qib xav tau rau cov khoom siv.
- Tsis txhob thawb SCOUT MINI (OMNI) ncaj qha.
- Thaum them nyiaj, xyuas kom tseeb tias qhov kub thiab txias yog siab tshaj 0 ℃
Kev tu
Txhawm rau kom ntseeg tau tias lub peev xwm khaws cia ntawm lub roj teeb, lub roj teeb yuav tsum khaws cia hauv hluav taws xob, thiab nws yuav tsum tau them tsis tu ncua thaum tsis siv sijhawm ntev.
MINIAGV (TRACER) Taw qhia
TRACER yog tsim los ua ntau lub hom phiaj UGV nrog cov ntawv thov sib txawv suav nrog: kev tsim qauv; yoog raws kev sib txuas; Lub cev muaj zog lub cev muaj peev xwm muaj peev xwm them taus siab.Qhov kev sib xyaw ntawm ob lub log sib txawv chassis thiab hub lub cev muaj zog tuaj yeem ua rau nws txav tau yooj yim sab hauv tsev.Cov khoom siv ntxiv xws li lub koob yees duab tso suab, laser radar, GPS, IMU thiab neeg hlau manipulator tuaj yeem xaiv tau nruab rau ntawm TRACER rau qib siab. navigation thiab computer vision applications. TRACER nquag siv rau kev kawm tsav tsheb thiab kev tshawb fawb, sab hauv tsev thiab sab nraum zoov kev saib xyuas kev nyab xeeb thiab kev thauj mus los, rau npe rau ob peb tus xwb.
Daim ntawv teev npe
| Lub npe | Ntau |
| TRACER neeg hlau lub cev | x1 |
| Roj teeb charger (AC 220V) | x1 |
| Chaw taws teeb tswj transmitter (yeem) | x1 |
| USB rau serial cable | x1 |
| Aviation plug (txiv neej, 4-Pin) | x1 |
| USB rau CAN kev sib txuas lus module | x1 |
Tech specifications
Kev xav tau kev loj hlob
RC transmitter yog muab (xaiv tau) hauv lub Hoobkas teeb tsa ntawm TRACER, uas tso cai rau cov neeg siv los tswj lub chassis ntawm cov neeg hlau txav thiab tig; CAN thiab RS232 interfaces ntawm TRACER tuaj yeem siv rau cov neeg siv kev hloov kho
Cov hauv paus
Tshooj lus no muab cov lus qhia luv luv rau TRACER mobile neeg hlau platform, raws li qhia
TRACER yog Tsim los ua ib qho kev txawj ntse ua tiav, uas nrog rau lub zog DC hub lub cev muaj zog, ua rau lub chassis ntawm TRACER neeg hlau hloov mus rau hauv av tiaj tus ntawm sab hauv. Anti-kev sib tsoo kab teeb yog mounted nyob ib ncig ntawm lub tsheb kom txo tau kev puas tsuaj rau lub tsheb lub cev thaum muaj kev sib tsoo. Lub teeb yog mounted rau pem hauv ntej ntawm lub tsheb, uas lub teeb dawb yog tsim rau illumination nyob rau hauv pem hauv ntej. Qhov chaw nres tsheb thaum muaj xwm ceev yog mounted rau tom qab kawg ntawm lub tsheb lub cev, uas tuaj yeem kaw lub zog ntawm tus neeg hlau tam sim ntawd thaum tus neeg hlau coj tus cwj pwm txawv txav. Dej-pov thawj connectors rau DC fais fab thiab kev sib txuas lus interface yog muab nyob rau tom qab ntawm TRACER, uas tsis tsuas yog tso cai hloov tau yooj yim kev twb kev txuas ntawm cov neeg hlau thiab lwm yam khoom, tab sis kuj ua kom muaj kev tiv thaiv tsim nyog rau sab hauv ntawm tus neeg hlau txawm nyob rau hauv kev ua hauj lwm hnyav. Lub bayonet qhib compartment yog tshwj tseg rau sab saum toj rau cov neeg siv.
Kev qhia txog xwm txheej
Cov neeg siv tuaj yeem txheeb xyuas qhov xwm txheej ntawm lub cev ntawm lub tsheb los ntawm lub voltmeter thiab teeb rau ntawm TRACER. Yog xav paub ntxiv
Cov lus qhia txog hluav taws xob interfaces
Rov qab hluav taws xob interface
Qhov txuas txuas ntxiv tom qab kawg yog pom hauv daim duab 2.3, qhov twg Q1 yog D89 serial chaw nres nkoj; Q2 yog qhov chaw nres tsheb; Q3 yog lub zog them chaw nres nkoj; Q4 yog qhov txuas txuas ntxiv rau CAN thiab 24V fais fab mov; Q5 yog lub ntsuas hluav taws xob; Q6 yog qhov hloov pauv raws li lub ntsiab hluav taws xob hloov.
Lub vaj huam sib luag nram qab muab tib yam kev sib txuas lus CAN thiab 24V fais fab kev sib txuas nrog rau sab saum toj (ob ntawm lawv yog kev sib txuas sab hauv). Tus pin txhais tau muab
Cov lus qhia txog kev tswj chaw taws teeb
FS RC transmitter yog ib qho kev xaiv ntxiv ntawm TRACER rau manually tswj tus neeg hlau. Lub transmitter los nrog rau sab laug-tes-thooj configuration. Qhov txhais thiab ua haujlwm
Ntxiv rau ob lub pas S1 thiab S2 siv rau kev xa cov kab tawm thiab cov lus nrawm nrawm, ob lub keyboards tau qhib los ntawm lub neej ntawd: SWB rau kev xaiv hom (sab saum toj txoj hauj lwm rau kev tswj hwm hom thiab nruab nrab txoj hauj lwm rau kev tswj chaw taws teeb), SWC rau teeb pom kev zoo tswj. Ob lub POWER nyees khawm yuav tsum tau nias thiab tuav ua ke kom qhib lossis kaw lub transmitter.
Cov lus qhia txog kev tswj kev xav tau thiab kev txav
Raws li pom nyob rau hauv daim duab 2.7, lub tsheb lub cev ntawm TRACER yog nyob rau hauv parallel nrog X axis ntawm cov tsim siv reference system. Ua raws li cov lus pom zoo no, qhov zoo tshaj tawm zoo sib xws rau kev txav mus rau pem hauv ntej ntawm lub tsheb raws li qhov zoo x-axis kev taw qhia thiab qhov zoo ntawm lub kaum sab xis sib haum mus rau sab xis sab xis ntawm z-axis. Nyob rau hauv phau ntawv tswj hom nrog RC transmitter, thawb lub C1 stick (DJI qauv) los yog S1 stick (FS qauv) rau pem hauv ntej yuav tsim ib tug zoo linear tshaj tawm hais kom ua thiab thawb C2 (DJI qauv) thiab S2 (FS qauv) rau sab laug yuav tsim ib tug zoo angular tshaj tawm hais kom ua
Pib pib
Tshooj lus no qhia txog kev ua haujlwm yooj yim thiab kev txhim kho ntawm TRACER platform siv CAN tsheb npav interface.
Siv thiab ua haujlwm
Tshawb xyuas
- Txheeb xyuas qhov xwm txheej ntawm lub cev tsheb. Xyuas seb puas muaj qhov tsis txaus ntseeg tseem ceeb; yog tias muaj, thov hu rau cov neeg ua haujlwm pabcuam tomqab muag kev pabcuam;
- Tshawb xyuas lub xeev ntawm cov keyboards nres thaum muaj xwm ceev. Xyuas kom tseeb tias ob lub khawm nres thaum muaj xwm ceev raug tso tawm.
Kaw
Tig tus yuam sij hloov mus txiav tawm lub hwj huam mov;
Pib
- Emergency stop switch status. Paub meej tias cov nyees khawm nres thaum muaj xwm ceev raug tso tawm tag nrho;
- Tig tus yuam sij hloov (Q6 ntawm lub vaj huam sib luag hluav taws xob), thiab ib txwm, lub voltmeter yuav tso saib cov roj teeb kom raug.tage thiab pem hauv ntej thiab nram qab lub teeb yuav tsum switched rau
Thaum muaj xwm ceev nres
Nias lub khawm thaum muaj xwm ceev ob sab laug thiab sab xis ntawm lub tsheb lub cev tom qab;
Cov txheej txheem kev khiav hauj lwm ntawm cov chaw taws teeb tswj
Tom qab lub chassis ntawm TRACER mobile neeg hlau pib raug, tig rau RC transmitter thiab xaiv hom chaw taws teeb tswj. Tom qab ntawd, TRACER platform txav tuaj yeem tswj tau los ntawm RC transmitter.
Kev them nyiaj
TRACER tau nruab nrog 10A charger los ntawm lub neej ntawd kom tau raws li cov neeg siv khoom xav tau rov qab.
Cov txheej txheem kev khiav hauj lwm kom ntxaws ntawm kev them nyiaj yog qhia raws li hauv qab no
- Xyuas kom tseeb tias cov hluav taws xob ntawm TRACER chassis raug kaw. Ua ntej them nyiaj, thov xyuas kom tseeb tias Q6 (tseem ceeb hloov) nyob rau hauv lub rear tswj console raug muab tua;
- Ntxig lub charger ntsaws rau hauv Q3 charging interface ntawm lub rear tswj vaj huam sib luag;
- Txuas lub charger rau lub hwj huam mov thiab qhib lub qhov hluav taws xob hauv lub charger. Tom qab ntawd, tus neeg hlau nkag mus rau hauv lub xeev them nyiaj.
Kev sib txuas lus siv CAN
TRACER muab CAN thiab RS232 interfaces rau cov neeg siv kev hloov kho. Cov neeg siv tuaj yeem xaiv ib qho ntawm cov kev sib tshuam no los tswj kev tswj hwm lub cev ntawm lub tsheb.
CAN lus raws tu qauv
TRACER txais CAN2.0B tus qauv kev sib txuas lus uas muaj kev sib txuas lus baud tus nqi ntawm 500K thiab Motorola lus hom. Los ntawm sab nraud CAN tsheb npav interface, kev txav tawm nrawm thiab kev sib hloov angular ceev ntawm chassis tuaj yeem tswj tau; TRACER yuav tawm tswv yim txog cov ntaub ntawv tam sim no ntawm kev txav mus los thiab nws cov ntaub ntawv xwm txheej chassis hauv lub sijhawm. Cov txheej txheem suav nrog cov txheej xwm tawm tswv yim thav duab, lub zog tswj kev tawm tswv yim thav duab thiab tswj cov ncej, cov ntsiab lus uas tau qhia raws li hauv qab no: Cov txheej txheem kev tawm tswv yim cov lus txib suav nrog cov lus tawm tswv yim txog cov xwm txheej tam sim no ntawm lub cev, tswj hom xwm txheej, roj teeb voltage thiab qhov system tsis ua haujlwm. Cov lus piav qhia tau muab rau hauv Table 3.1.
Cov lus qhia ncej ntawm TRACER Chassis System Status
| Command Lub Npe System Status Feedback Command | ||||
| Xa node | Txais node | ID | Lub voj voog (ms) | Txais-lub sijhawm (ms) |
| Steer-by-wire chassis
Cov ntaub ntawv ntev Txoj Haujlwm |
Decoisniotrno-lwmuankiting 0x08
Muaj nuj nqi |
0 x 151
Hom ntaub ntawv |
20ms ib | Tsis muaj |
|
Kev piav qhia |
||||
|
byte [0] |
Cuvrerhenictlestbaotudsyof |
unsigned 8 |
0x00 System nyob rau hauv ib txwm mob 0x01 Emergency stop mode 0x02 System exception | |
|
byte [1] |
Hom tswj |
unsigned 8 |
0x00 Chaw taws teeb tswj hom 0x01 CAN hais kom tswj hom[1] 0x02 Serial chaw nres nkoj tswj hom | |
| byte [2] byte [3] | Roj teeb voltage siab dua 8 ntsis roj teeb voltage qis 8bit | unsigned 16 | Qhov tseeb voltage X 10 (nrog qhov tseeb ntawm 0.1V) | |
| byte [4] | Cov ntaub ntawv ua tsis tiav | unsigned 16 | Saib cov ntawv kom paub meej 【Table 3.2】 | |
| byte [5] | Khaws tseg | – | 0 x 00 | |
| byte [6] | Khaws tseg | – | 0 x 00 | |
| byte [7] | Suav paritybit ( suav) | unsigned 8 | 0-255 suav loops | |
Kev piav qhia ntawm Cov Ntaub Ntawv Tsis Ua Haujlwm
Cov lus txib ntawm lub zog tswj kev tawm tswv yim thav duab suav nrog cov lus tawm tswv yim tam sim no linear ceev thiab angular ceev ntawm lub cev txav tsheb. Rau cov ncauj lus kom ntxaws ntawm cov txheej txheem, thov mus saib Table 3.3.
Movement Control Feedback Ncej
| Command Lub Npe Movement Control Feedback Command | ||||
| Xa node | Txais node | ID | Lub voj voog (ms) | Txais-lub sijhawm (ms) |
| Steer-by-wire chassis | Chav tswj kev txiav txim siab | 0 x 221 | 20ms ib | Tsis muaj |
| Cov ntaub ntawv ntev | 0 x 08 | |||
| Txoj hauj lwm | Muaj nuj nqi | Hom ntaub ntawv | Kev piav qhia | |
| byte [0]
byte [1] |
Tsiv ceev dua 8 ntsis
Tsiv ceev qis dua 8 ntsis |
npe int16 | Tsheb ceev Unit: mm/s | |
| byte [2]
byte [3] |
Kev sib hloov ceev siab dua 8 ntsis
Kev sib hloov ceev qis dua 8 ntsis |
npe int16 | Tsheb angular ceev Unit: 0.001rad/s | |
| byte [4] | Khaws tseg | – | 0 x 00 | |
| byte [5] | Khaws tseg | – | 0 x 00 | |
| byte [6] | Khaws tseg | – | 0 x 00 | |
| byte [7] | Khaws tseg | – | 0 x 00 | |
Cov ncej tswj muaj xws li tswj kev qhib siab ntawm linear ceev thiab tswj kev qhib siab ntawm angular ceev. Rau nws cov ncauj lus kom ntxaws ntawm cov txheej txheem, thov mus saib Table 3.4.
Control Ncej ntawm Movement Control Command
| Lub Npe Lub Npe Control Command | ||||
| Xa node
Steer-by-wire chassis Cov ntaub ntawv ntev |
Txais node Chassis node
0 x 08 |
ib 0x111 | Lub voj voog (ms) | Txais-lub sijhawm (ms) |
| 20ms ib | 500ms ib | |||
| Txoj hauj lwm | Muaj nuj nqi | Hom ntaub ntawv | Kev piav qhia | |
| byte [0] byte [1] | Tsiv ceev dua 8 ntsis Tsiv ceev qis dua 8 ntsis | npe int16 | Tsheb ceev Unit: mm/s | |
| byte [2]
byte [3] |
Kev sib hloov ceev siab dua 8 ntsis
Kev sib hloov ceev qis dua 8 ntsis |
npe int16 | Tsheb angular ceev
Chav tsev: 0.001rad/s |
|
| byte [4] | Khaws tseg | — | 0 x 00 | |
| byte [5] | Khaws tseg | — | 0 x 00 | |
| byte [6] | Khaws tseg | — | 0 x 00 | |
| byte [7] | Khaws tseg | — | 0 x 00 | |
Lub teeb tswj lub teeb suav nrog lub xeev tam sim no ntawm lub teeb pem hauv ntej. Rau nws cov ntsiab lus ntxaws ntxaws ntawm cov txheej txheem, thov mus rau Table 3.5.
Teeb pom kev zoo Control Ncej
| Xa node | Txais node | ID | Cycle (ms) Tau txais-timeout (ms) | |
| Steer-by-wire chassis | Chav tswj kev txiav txim siab | 0 x 231 | 20ms ib | Tsis muaj |
| Cov ntaub ntawv ntev | 0 x 08 | |||
| Txoj hauj lwm | Muaj nuj nqi | Hom ntaub ntawv | Kev piav qhia | |
| byte [0] | Kev tswj teeb pom kev zoo pab cov chij | unsigned 8 | 0x00 Tswj hais kom ua tsis raug
0x01 Teeb pom kev zoo tswj tau |
|
| byte [1] | Pem hauv ntej teeb hom | unsigned 8 | 0x002xB010 NmOC de
0x03 Tus neeg siv-txhais lusLnedobrightness |
|
| byte [2] | Kev cai brightness ntawm pem hauv ntej teeb | unsigned 8 | [0, 100], qhov twg 0mreafxeimrsutomnboribgrhigtnhetnssess, 100 hais txog | |
| byte [3] | Khaws tseg | — | 0 x 00 | |
| byte [4] | Khaws tseg | — | 0 x 00 | |
| byte [5] | Khaws tseg | — | 0 x 00 | |
| byte [6] byte [7] | Reserved Count paritybit ( suav) | –
unsigned 8 |
0 x 00
0a- |
|
Tus tswj hom ncej muaj xws li teem lub hom tswj ntawm chassis. Rau nws cov ntsiab lus ntxaws, thov mus saib Table 3.7.
Tswj hom Ncej Kev Qhia
Tswj hom kev qhia
Nyob rau hauv rooj plaub uas lub RC transmitter yog powered tawm, kev tswj hom ntawm TRACER yog defaulted rau command control hom, uas txhais tau hais tias lub chassis tuaj yeem tswj tau ncaj qha los ntawm kev hais kom ua. Txawm li cas los xij, txawm hais tias lub chassis nyob rau hauv kev tswj hwm hom, kev tswj hom hauv cov lus txib yuav tsum tau teem rau 0x01 kom ua tiav cov lus txib ceev. Thaum lub RC transmitter hloov dua siab tshiab, nws muaj qib siab tshaj plaws los tiv thaiv cov lus txib tswj thiab hloov mus rau hom tswj. Cov xwm txheej txoj hauj lwm ncej muaj cov lus qhia yuam kev. Rau nws cov ntsiab lus ntxaws, thov mus rau Table 3.8.
Txoj hauj lwm txoj hauj lwm Frame Instruction
| Command Name Status position Frame | ||||
| Xa node | Txais node | ID | Cycle (ms) Tau txais-timeout (ms) | |
| Steer-by-wire chassis
Cov ntaub ntawv ntev Txoj Haujlwm |
Kev txiav txim siab tswj chav tsev 0x01
Muaj nuj nqi |
0 x 441
Hom ntaub ntawv |
Tsis muaj | Tsis muaj |
|
Kev piav qhia |
||||
| byte [0] | Tswj hom | unsigned 8 | 0x00 Clear tag nrho cov yuam kev 0x01 Clear yuam kev ntawm lub cev muaj zog 1 0x02 Clear yuam kev ntawm lub cev muaj zog 2 | |
Odometer Cov Lus Qhia Cov Lus Qhia
| Xa node Steer-by-wire chassis
Cov ntaub ntawv ntev |
Tau txais node Kev txiav txim siab tswj chav tswj
0 x 08 |
ib 0x311 | Lub voj voog (ms) 接收超时(ms) | |
| 20ms ib | Tsis muaj | |||
| Txoj hauj lwm | Muaj nuj nqi | Hom ntaub ntawv | Kev piav qhia | |
| byte [0] | Sab laug log siab tshaj odometer |
npe int32 |
Cov ntaub ntawv ntawm sab laug log odometer Unit mm |
|
| byte [1] | Sab laug log thib ob siab tshaj odometer | |||
| byte [2] | Sab laug log thib ob qis tshaj odometer | |||
| byte [3] | Sab laug log qis tshaj odometer | |||
| byte [4] | Txoj cai log tsheb siab tshaj odometer |
kos npe int32- |
Cov ntaub ntawv ntawm txoj cai log tsheb odometer Unit mm |
|
| byte [5] | Txoj cai log thib ob siab tshaj odometer | |||
| byte [6] | Txoj cai log tsheb thib ob qis tshaj odometer | |||
| byte [7] | Txoj cai log qis tshaj odometer | |||
Cov ntaub ntawv xwm txheej chassis yuav raug muab rov qab; dab tsi ntxiv, cov ntaub ntawv hais txog lub cev muaj zog. Cov lus tawm tswv yim hauv qab no muaj cov ntaub ntawv hais txog lub cev muaj zog: Cov naj npawb ntawm 2 lub cev muaj zog hauv lub chassis tau qhia hauv daim duab hauv qab no:
Motor High-speed Information Feedback Ncej
| Command Lub Npe Lub Cev Muaj Zog Cov Lus Qhia Cov Lus Qhia Cov Lus Qhia | ||||
| Xa node | Txais node | ID | Cycle (ms) Tau txais-timeout (ms) | |
| Steer-by-wire chassis Cov ntaub ntawv ntev
Txoj hauj lwm |
Steer-by-wire chassis 0x08
Muaj nuj nqi |
0x251-0x252 ib
Hom ntaub ntawv |
20ms ib | Tsis muaj |
|
Kev piav qhia |
||||
| byte [0]
byte [1] |
Lub cev muaj zog rotational ceev siab dua 8 ntsis
Lub cev muaj zog rotational ceev qis dua 8 ntsis |
npe int16 | Motor rotational ceev
Unit: RPM |
|
| byte [2] | Khaws tseg | – | 0 x 00 | |
| byte [3] | Khaws tseg | — | 0 x 00 | |
| byte [4] | Khaws tseg | — | 0 x 00 | |
| byte [5] | Khaws tseg | — | 0 x 00 | |
| byte [6] | Khaws tseg | – | 0 x 00 | |
Lub cev muaj zog qis-ceev cov ntaub ntawv tawm tswv yim ncej
| Command Lub Npe Lub Cev Muaj Zog Cov Lus Qhia Tsawg-ceev Cov Lus Qhia Cov Lus Qhia | ||||
| Xa node | Txais node | ID | Lub voj voog (ms) | |
| Steer-by-wire chassis Cov ntaub ntawv ntev
Txoj hauj lwm |
Steer-by-wire chassis 0x08
Muaj nuj nqi |
0x261-0x262 ib
Hom ntaub ntawv |
100ms ib | |
|
Kev piav qhia |
||||
| byte [0]
byte [1] |
Khaws tseg
Khaws tseg |
– | 0 x 00
0 x 00 |
|
| byte [2] | Khaws tseg | – | 0 x 00 | |
| byte [3] | Khaws tseg | — | 0 x 00 | |
| byte [4] | Khaws tseg | — | 0 x 00 | |
| byte [5] | Tus neeg tsav tsheb xwm txheej | — | Cov ntsiab lus muaj nyob rau hauv Table 3.12 | |
| byte [6] | Khaws tseg | – | 0 x 00 | |
| byte [7] | Khaws tseg | – | 0 | |
Kev piav qhia ntawm Cov Ntaub Ntawv Tsis Ua Haujlwm
CAN cable txuas
RAU KEV THOV VAJTSWV, THOV QHIA RAU TAB 2.2.
- Liab: VCC (roj teeb zoo)
- Dub: GND ( roj teeb tsis zoo )
- Xiav:CAN_L
- Daj:CAN_H
Schematic Daim duab ntawm Aviation Txiv neej Plug
Nco tseg: Qhov siab tshaj plaws ua tiav tam sim no feem ntau nyob ib ncig ntawm 5 A.
Kev siv CAN kev tswj hwm
Pib lub chassis ntawm TRACER mobile neeg hlau, thiab tig rau FS RC transmitter. Tom qab ntawd, hloov mus rau hom kev tswj hwm, piv txwv li toggling SWB hom ntawm FS RC transmitter mus rau sab saum toj. Lub sijhawm no, TRACER chassis yuav lees txais cov lus txib los ntawm CAN interface, thiab tus tswv tsev kuj tseem tuaj yeem txheeb xyuas lub xeev tam sim no ntawm chassis nrog cov ntaub ntawv lub sijhawm tiag tiag pub rov qab los ntawm CAN tsheb npav. Rau cov ncauj lus ntxaws ntxaws ntawm cov txheej txheem, thov xa mus rau CAN kev sib txuas lus raws tu qauv.
Kev sib txuas lus siv RS232
Taw qhia rau serial raws tu qauv
Qhov no yog tus qauv kev sib txuas lus sib txuas uas tau tsim los ntawm Electronic Industries Association (EIA) ua ke nrog Tswb System, cov chaw tsim khoom lag luam thiab cov chaw tsim khoom hauv computer hauv xyoo 1970. Nws lub npe puv yog hu ua "tus qauv txheej txheem rau serial binary data exchange interface ntawm cov ntaub ntawv davhlau ya nyob twg. (DTE) thiab cov khoom siv sib txuas lus (DCE). Cov qauv no yuav tsum tau siv 25-pin DB-25 connector uas txhua tus pin tau teev nrog cov ntsiab lus sib xws thiab ntau theem teeb liab. Tom qab ntawd, RS232 tau yooj yim ua DB-9 connector hauv IBM PCs, uas tau dhau los ua tus qauv de facto txij thaum ntawd los. Feem ntau, RS-232 chaw nres nkoj rau kev tswj kev lag luam tsuas yog siv 3 hom cables - RXD, TXD thiab GND.
Serial lus raws tu qauv
Basic parameters ntawm kev sib txuas lus
| Yam khoom | Parameter |
| Baud tus nqi | 115200 |
| Tshawb xyuas | Tsis kuaj |
| Cov ntaub ntawv me ntsis ntev | 8 bits |
| Txhob me ntsis | 1bit ib |
Basic parameters ntawm kev sib txuas lus
| Pib ntsis Ncej ntev Command hom Command ID Cov ntaub ntawv teb Ncej ID | |||||||
| SOF | ncej_L | CMD_TYPE | CMD_ID | data [0] … data[n] | frame_id | check_sum | |
| bytej 1 | bytej 2 | bytej 3 | bytej 4 | bytej 5 | byte 6 … byte 6+n | peb 7+n | peb 8+n |
| 5A | A5 | ||||||
Cov txheej txheem muaj xws li pib me ntsis, ncej ntev, ncej hom lus txib, hais kom ua ID, cov ntaub ntawv teb, ncej ID, thiab checksum muaj pes tsawg leeg. Qhov twg, tus ncej ntev yog hais txog qhov ntev tsis suav nrog pib me ntsis thiab checksum muaj pes tsawg leeg; lub checksum hais txog cov lej ntawm pib me ntsis rau tag nrho cov ntaub ntawv ntawm tus ncej ID; tus ncej ID yog lub voj suav ntawm 0 txog 255, uas yuav muab ntxiv ib zaug txhua qhov xa mus.
Cov ntsiab lus raws tu qauv
Qhov system xwm txheej tawm tswv yim hais kom ua
| Command Name System raws li txoj cai tawm tswv yim hais kom ua | |||
| Xa node | Txais node | Cycle (ms) Tau txais-timeout (ms) | |
| Steer-by-wire chassis Ncej ntev
Hom lus txib |
Kev txiav txim siab tswj chav tsev 0x0a
Cov lus txib (0xAA) |
20ms ib | Tsis muaj |
| Hais kom ua ID | 0 x 01 | ||
| Cov ntaub ntawv ntev | 6 | ||
| Txoj hauj lwm | Muaj nuj nqi | Hom ntaub ntawv | Kev piav qhia |
|
byte [0] |
Cov xwm txheej tam sim no ntawm lub cev tsheb |
unsigned 8 |
0x00 System nyob rau hauv ib txwm mob
0x01 Hom nres xwm ceev (tsis tau qhib) 0x01 Kev zam |
|
byte [1] |
Hom tswj |
unsigned 8 |
0x00 Chaw taws teeb tswj hom 0x01 YUAV TSUM hais kom tswj hom[1]
0x02 Serial chaw nres nkoj tswj hom |
| byte [2]
byte [3] |
Roj teeb voltage siab 8bit
Roj teeb voltage qis 8bit |
unsigned 16 | Qhov tseeb voltage X 10 (nrog qhov tseeb ntawm 0.1V) |
| byte [4]
byte [5] |
Cov ntaub ntawv tsis raug siab dua 8 ntsis
Cov ntaub ntawv poob qis qis dua 8 ntsis |
unsigned 16 | [DescripSteioennofteFsaiflourredeIntafoilrsmation] |
- @BRIEF SERIAL MESSAGE CHECKSUM EXAMPLUB CODE
- @PARAM[IN] *DATA : SERIAL MESSAGE DATA STRUCT POINTER
- @PARAM[IN] LEN : SERIAL MESSAGE DATA LENGTH
- @YUAV QHOV TSEEM CEEB
- STATIC UINT8 AGILEX_SERIALMSGCHECKSUM(UINT8 *DATA, UINT8 LEN)
- UINT8 CHECKSUM = 0X00;
- FOR(UINT8 I = 0 ; I < (LEN-1); I++)
- CHECKSUM += DATA[I];
Example ntawm serial check algorithm code
| Kev piav qhia ntawm Cov Ntaub Ntawv Tsis Ua Haujlwm | ||
| Byte | Me ntsis | Lub ntsiab lus |
|
byte [4]
byte [5]
[1]: Th sub |
ib [0] | Txheeb xyuas qhov yuam kev ntawm CAN kev sib txuas lus tswj cov lus txib (0: Tsis muaj qhov tsis ua tiav 1: Tsis ua haujlwm) |
| ib [1] | Lub cev muaj zog tsav tshaj-kub tswb [1] (0: Tsis muaj tswb 1: Tswb) Kub txwv rau 55 ℃ | |
| ib [2] | Lub cev muaj zog tshaj lub tswb tam sim no [1] (0: Tsis muaj lub tswb 1: Tswb) Tam sim no tus nqi zoo 15A | |
| ib [3] | Roj teeb hauv qab-voltage alarm (0: No alarm 1: Tswb) Tswb voltage22.5 wb | |
| ib [4] | Reserved, default 0 | |
| ib [5] | Reserved, default 0 | |
| ib [6] | Reserved, default 0 | |
| ib [7] | Reserved, default 0 | |
| ib [0] | Roj teeb hauv qab-voltage tsis ua hauj lwm (0: Tsis ua hauj lwm 1: Tsis ua hauj lwm) Tiv thaiv voltage22 wb | |
| ib [1] | Roj teeb dhau-voltage tsis ua haujlwm (0: Tsis muaj qhov tsis ua haujlwm 1: Tsis ua haujlwm) | |
| ib [2]
ib [3] ib [4] |
No.1 lub cev muaj zog kev sib txuas lus tsis ua hauj lwm (0: Tsis ua hauj lwm 1: Tsis ua hauj lwm) No.2 lub cev muaj zog kev sib txuas lus tsis ua hauj lwm (0: Tsis ua hauj lwm 1: tsis ua hauj lwm)
No.3 lub cev muaj zog kev sib txuas lus tsis ua hauj lwm (0: Tsis ua hauj lwm 1: Tsis ua hauj lwm) |
|
| ib [5] | No.4 lub cev muaj zog kev sib txuas lus tsis ua hauj lwm (0: Tsis ua hauj lwm 1: Tsis ua hauj lwm) | |
| ib [6]
ib [7] sib ve |
Lub cev muaj zog tiv thaiv kub dhau [2] (0: Tsis muaj kev tiv thaiv 1: Kev tiv thaiv) Kub txwv rau 65 ℃
Lub cev muaj zog tiv thaiv tam sim no [2] (0: Tsis muaj kev tiv thaiv 1: Kev tiv thaiv) tam sim no tus nqi zoo 20A sions ntawm neeg hlau chassis firmware version tom qab V1.2.8 tau txais kev txhawb nqa, tab sis yav dhau los versions yuav tsum tau |
|
- Cov tom ntej versions ntawm neeg hlau chassis firmware version tom qab V1.2.8 tau txais kev txhawb nqa, tab sis yav dhau los versions yuav tsum tau hloov kho ua ntej txhawb.
- Lub tswb tshaj qhov kub ntawm lub cev muaj zog thiab lub cev muaj zog tshaj lub tswb tam sim no yuav tsis ua haujlwm sab hauv tab sis tsuas yog teeb tsa los muab rau lub khoos phis tawj sab saud kom ua tiav qee yam ua ntej. Yog hais tias tsav dhau-tam sim no tshwm sim, nws yog pom zoo kom txo lub tsheb ceev; yog tias kub dhau lawm, nws raug nquahu kom txo qhov ceev ua ntej thiab tos qhov kub kom txo. Tus chij me ntsis no yuav rov qab mus rau qhov qub thaum qhov kub thiab txias, thiab lub tswb nrov dhau lawm yuav raug tshem tawm thaum tus nqi tam sim no rov qab los rau qhov qub;
- Kev tiv thaiv over-temperature ntawm lub cev muaj zog tsav thiab lub cev muaj zog tiv thaiv dhau tam sim no yuav raug ua haujlwm sab hauv. Thaum qhov kub ntawm lub cev muaj zog tsav yog siab dua qhov kev tiv thaiv kub, qhov tso zis tsav yuav raug txwv, lub tsheb yuav maj mam nres, thiab kev tswj tus nqi ntawm lub zog tswj cov lus txib yuav ua tsis raug. Tus chij me ntsis no yuav tsis raug tshem tawm, uas xav tau lub khoos phis tawj sab saud xa cov lus txib ntawm kev tiv thaiv tsis ua haujlwm. Thaum cov lus txib raug tshem tawm, qhov kev tswj hwm kev txav mus los tsuas tuaj yeem ua tiav ib txwm.
Movement tswj kev tawm tswv yim hais kom ua
| Lub Npe | Movement Control Feedback Command | ||
| Xa node | Txais node | Lub voj voog (ms) | Txais-lub sijhawm (ms) |
| Steer-by-wire chassis Ncej ntev
Hom lus txib |
Kev txiav txim siab tswj chav tsev 0x0A
Cov lus txib (0xAA) |
20ms ib | Tsis muaj |
| Hais kom ua ID | 0 x 02 | ||
| Cov ntaub ntawv ntev | 6 | ||
| Txoj hauj lwm | Muaj nuj nqi | Hom ntaub ntawv | Kev piav qhia |
| byte [0]
byte [1] |
Tsiv ceev dua 8 ntsis
Tsiv ceev qis dua 8 ntsis |
npe int16 | Qhov tseeb ceev X 1000 (nrog qhov tseeb ntawm
0.001m / s) |
| byte [2]
byte [3] |
Kev sib hloov ceev siab dua 8 ntsis
Kev sib hloov ceev qis dua 8 ntsis |
npe int16 | Qhov tseeb ceev X 1000 (nrog qhov tseeb ntawm
0.001rad/s) |
| byte [4] | Khaws tseg | – | 0 x 00 |
| byte [5] | Khaws tseg | – | 0 x 00 |
Movement tswj command
| Lub Npe Lub Npe Control Command | |||
| Xa node | Txais node | Lub voj voog (ms) | Txais-timeout (ms) |
| Kev txiav txim siab tswj chav tsev Ncej ntev
Hom lus txib |
Chassis node 0x0A
Control hais kom ua (0x55) |
20ms ib | Tsis muaj |
| Hais kom ua ID | 0 x 01 | ||
| Cov ntaub ntawv ntev | 6 | ||
| Txoj hauj lwm | Muaj nuj nqi | Hom ntaub ntawv | Kev piav qhia
0x00 Chaw taws teeb tswj hom |
|
byte [0] |
Tswj hom |
unsigned 8 |
0x01 CAN hais kom ua hom tswj[1] 0x02 Serial chaw nres nkoj tswj hom Saib Lus Cim 2 kom paub meej * |
| byte [1] | Ua tsis tiav clearing command | unsigned 8 | Qhov siab tshaj plaws ceev 1.5m / s, tus nqi ntau (-100, 100) |
| byte [2] | Linear ceev percentage | npe int8 | Qhov siab tshaj plaws ceev 0.7853rad / s, tus nqi ntau (-100, 100) |
|
byte [3] |
Angular ceev percentage |
npe int8 |
0x01 0x00 Chaw taws teeb tswj hom tuaj yeem hais kom tswj hom[1]
0x02 Serial chaw nres nkoj tswj hom Saib Lus Cim 2 kom paub meej * |
| byte [4] | Khaws tseg | – | 0 x 00 |
| byte [5] | Khaws tseg | – | 0 x 00 |
No.1 lub cev muaj zog tsav cov ntaub ntawv tawm tswv yim ncej
| Lub Npe | No.1 Tsav Tsav Cov Ntaub Ntawv Cov Lus Qhia Cov Lus Qhia | ||
| Xa node | Txais node | Lub voj voog (ms) | Txais-lub sijhawm (ms) |
| Steer-by-wire chassis Ncej ntev
Hom lus txib |
Kev txiav txim siab tswj chav tsev 0x0A
Cov lus txib (0xAA) |
20ms ib | Tsis muaj |
| Hais kom ua ID | 0 x 03 | ||
| Cov ntaub ntawv ntev | 6 | ||
| Txoj hauj lwm | Muaj nuj nqi | Hom ntaub ntawv | Kev piav qhia |
| byte [0]
byte [1] |
No.1 tsav tam sim no siab dua 8 ntsis
No.1 tsav tam sim no qis dua 8 ntsis |
unsigned 16 | Qhov tseeb tam sim no X 10 (nrog qhov tseeb ntawm 0.1A) |
| byte [2]
byte [3] |
No.1 tsav rotational ceev dua 8 ntsis
No.1 tsav rotational ceev qis dua 8 ntsis |
npe int16 | Qhov tseeb lub cev muaj zog ncej tshaj tawm (RPM) |
| byte [4] | No.1 hard disk drive (HDD) kub | npe int8 | Qhov ntsuas kub tiag tiag (nrog qhov tseeb ntawm 1 ℃) |
| byte [5] | Khaws tseg | — | 0 x 00 |
No.2 lub cev muaj zog tsav cov ntaub ntawv tawm tswv yim ncej
| Lub Npe | No.2 Tsav Tsav Cov Ntaub Ntawv Cov Lus Qhia Cov Lus Qhia | ||
| Xa node | Txais node | Lub voj voog (ms) | Txais-lub sijhawm (ms) |
| Steer-by-wire chassis Ncej ntev
Hom lus txib |
Kev txiav txim siab tswj chav tsev 0x0A
Cov lus txib (0xAA) |
20ms ib | Tsis muaj |
| Hais kom ua ID | 0 x 04 | ||
| Cov ntaub ntawv ntev | 6 | ||
| Txoj hauj lwm | Muaj nuj nqi | Hom ntaub ntawv | Kev piav qhia |
| byte [0]
byte [1] |
No.2 tsav tam sim no siab dua 8 ntsis
No.2 tsav tam sim no qis dua 8 ntsis |
unsigned 16 | Qhov tseeb tam sim no X 10 (nrog qhov tseeb ntawm 0.1A) |
| byte [2]
byte [3] |
No.2 tsav rotational ceev dua 8 ntsis
No.2 tsav rotational ceev qis dua 8 ntsis |
npe int16 | Qhov tseeb lub cev muaj zog ncej tshaj tawm (RPM) |
| byte [4] | No.2 hard disk drive (HDD) kub | npe int8 | Qhov ntsuas kub tiag tiag (nrog qhov tseeb ntawm 1 ℃) |
| byte [5] | Khaws tseg | — | 0 x 00 |
Teeb pom kev zoo tswj ncej
| Command Lub npe Teeb pom kev zoo Control Ncej | |||
| Xa node | Txais node | Lub voj voog (ms) | Txais-lub sijhawm (ms) |
| Kev txiav txim siab tswj chav tsev Ncej ntev
Hom lus txib |
Chassis node 0x0A
Control hais kom ua (0x55) |
20ms ib | 500ms ib |
| Hais kom ua ID | 0 x 02 | ||
| Cov ntaub ntawv ntev | 6 | ||
| Txoj hauj lwm | Muaj nuj nqi | Hom ntaub ntawv | Kev piav qhia |
| byte [0] | Kev tswj teeb pom kev zoo pab cov chij | unsigned 8 | 0x00 Tswj hais kom ua tsis raug
0x01 Teeb pom kev zoo tswj tau |
|
byte [1] |
Pem hauv ntej teeb hom |
unsigned 8 |
0x010 NPO
0x03 Us0exr-0d2eBfiLnemdobdreightness |
| byte [2] | Kev cai brightness ntawm pem hauv ntej teeb | unsigned 8 | [0, 100]r,ewfehresrteo0mreafxeimrsutomnboribgrhigtnhetnssess, 0x00 NC |
| byte [3] | Tsheb teeb hom | unsigned 8
unsigned 8 |
0 x01 nr
0x03 0x02 BL hom Cov neeg siv-txhais brightness [0, ], qhov twg 0 hais txog tsis muaj qhov ci, |
| byte [4] | Kev cai brightness ntawm rear teeb | 100 hais txog qhov siab tshaj plaws | |
| byte [5] | Khaws tseg | — | 0 x 00 |
Teeb pom kev zoo tswj lub tswv yim ncej
| Command Lub npe Teeb pom kev zoo tswj cov lus taw qhia ncej | |||
| Xa node | Txais node | Lub voj voog (ms) | Txais-lub sijhawm (ms) |
| Steer-by-wire chassis
Ncej ntev Command hom |
Kev txiav txim siab tswj chav tsev 0x0A
Cov lus txib (0xAA) |
20ms ib | Tsis muaj |
| Hais kom ua ID | 0 x 07 | ||
| Cov ntaub ntawv ntev | 6 | ||
| Txoj hauj lwm | Muaj nuj nqi | Hom ntaub ntawv | Kev piav qhia |
| byte [0] | Kev tswj teeb pom kev zoo tam sim no pab cov chij | unsigned 8 | 0x00 Tswj hais kom ua tsis raug
0x01 Teeb pom kev zoo tswj tau |
|
byte [1] |
Tam sim no pem hauv ntej teeb hom |
unsigned 8 |
0x00 nco
0 x01 nr 0x02 BL hom 0x03 Tus neeg siv-txhais teeb ci [0, ], qhov twg 0 hais txog tsis muaj qhov ci, |
| byte [2] | Tam sim no kev cai brightness ntawm pem hauv ntej teeb | unsigned 8 | 100 hais txog qhov siab tshaj plaws |
| byte [3] | Tam sim no rear teeb hom | unsigned 8
unsigned 8 |
0x00 nco
0 x01 nr 0x02 BL ua [0, 0x03 User-defined obrightness,], qhov twg 0 hais txog t tsis kaj |
| byte [4]
byte [5] |
Tam sim no kev cai brightness ntawm rear teeb
Khaws tseg |
— | 100 yog hais txog m0ax0im0 um brightness |
Example data
Lub chassis yog tswj kom txav mus rau pem hauv ntej ntawm txoj kab nrawm ntawm 0.15m / s, los ntawm cov ntaub ntawv tshwj xeeb tau qhia raws li hauv qab no
| Pib me ntsis | Flernamgthe | Comtympeand | KomImDand | Cov ntaub ntawv | Ncej ID | cCohmepcoksitmion | |||
| bytej 1 | bytej 2 | bytej 3 | bytej 4 | bytej 5 | bytej 6 | .... | peb 6+n | peb 7+n | peb 8+n |
| 0 x5a | 0x ua 5 | 0 x0a | 0 x 55 | 0 x 01 | .... | .... | .... | 0 x 00 | 0x6B |
Cov ntaub ntawv teb cov ntsiab lus yog qhia raws li hauv qab no:
Tag nrho cov ntaub ntawv kab yog: 5A A5 0A 55 01 02 00 0A 00 00 00 00 6B
Serial kev twb kev txuas
Tshem tawm USB-rau-RS232 serial cable los ntawm peb cov khoom siv sib txuas lus txuas mus rau qhov chaw nres nkoj serial tom qab kawg. Tom qab ntawd, siv cov cuab yeej serial chaw nres nkoj los teeb tsa tus nqi sib thooj baud, thiab ua qhov kev xeem nrog tus examphnub uas tau muab los saum toj no. Yog tias RC transmitter nyob rau, nws yuav tsum tau hloov mus rau kev tswj hwm hom; Yog tias RC transmitter raug kaw, xa ncaj qha rau kev tswj hwm. Nws yuav tsum raug sau tseg tias, cov lus txib yuav tsum raug xa mus ib ntus, vim tias yog tias lub chassis tsis tau txais cov lus txib chaw nres nkoj tom qab 500ms, nws yuav nkag mus rau qhov kev tiv thaiv tsis raug.
Txhim kho firmware
RS232 chaw nres nkoj ntawm TRACER tuaj yeem siv los ntawm cov neeg siv los txhim kho lub firmware rau tus tswj lub ntsiab kom tau txais cov kab mob thiab kev txhim kho. Ib daim ntawv thov PC neeg siv nrog graphical user interface yog muab los pab ua kom cov txheej txheem kho dua tshiab sai thiab du. Ib qho screenshot ntawm daim ntawv thov no tau pom hauv daim duab 3.3.
Txhim kho kev npaj
- Serial Cable X 1
- USB-rau-serial chaw nres nkoj X 1
- TRACER chassis X 1
- Computer (Windows operating system) X 1
Firmware hloov tshiab software
https://github.com/agilexrobotics/agilex_firmware
Txhim kho txheej txheem
- Ua ntej kev sib txuas, xyuas kom cov neeg hlau chassis raug kaw;
- Txuas lub serial cable mus rau qhov chaw nres nkoj serial tom qab kawg ntawm TRACER chassis;
- Txuas lub serial cable rau lub computer;
- Qhib tus neeg siv khoom software;
- Xaiv tus lej chaw nres nkoj;
- Fais fab ntawm TRACER chassis, thiab tam sim ntawd nyem rau pib kev twb kev txuas (TRACER chassis yuav tos 6s ua ntej fais fab tuag; yog tias lub sij hawm tos ntau tshaj 6s, nws yuav nkag mus rau hauv daim ntawv thov); yog tias qhov kev sib txuas ua tiav, "txuas tau zoo" yuav raug ceeb toom rau hauv lub thawv ntawv;
- Load Bin file;
- Nyem lub Upgrade khawm, thiab tos kom sai li sai tau upgrade tiav;
- Disconnect lub serial cable, fais fab tuag lub chassis, thiab tom qab ntawd tig lub hwj chim tawm thiab rov ua dua.
Client Interface ntawm Firmware Upgrade
Cov kev ceev faj
Tshooj lus no suav nrog qee qhov kev ceev faj uas yuav tsum tau them rau kev siv TRACER thiab kev txhim kho.
Roj teeb
- Lub roj teeb muab nrog TRACER tsis tau them tag nrho hauv lub Hoobkas teeb tsa, tab sis nws lub peev xwm tshwj xeeb tuaj yeem tso tawm ntawm lub voltmeter tom qab kawg ntawm TRACER chassis lossis nyeem ntawm CAN tsheb npav sib txuas lus. Lub roj teeb rov qab tuaj yeem nres thaum lub teeb ntsuab LED ntawm lub charger hloov ntsuab. Nco ntsoov tias yog tias koj khaws lub charger txuas tom qab lub teeb ntsuab LED tau txais, lub charger yuav txuas ntxiv them lub roj teeb nrog li 0.1A tam sim no rau li 30 feeb ntxiv kom tau txais lub roj teeb tag nrho.
- Thov tsis txhob them lub roj teeb tom qab nws lub hwj chim tau tas lawm, thiab thov kom them lub roj teeb nyob rau lub sijhawm thaum lub tswb nrov qis;
- Static cia tej yam kev mob: qhov zoo tshaj plaws kub rau roj teeb cia yog -20 ℃ to 60 ℃; Yog tias tsis muaj kev cia khoom siv, lub roj teeb yuav tsum tau them rov qab thiab tso tawm ib zaug txhua 2 lub hlis, thiab tom qab ntawd muab tso rau hauv tag nrho vol.tage xeev. Thov tsis txhob muab lub roj teeb tso rau hauv hluav taws lossis ua kom sov lub roj teeb, thiab tsis txhob khaws lub roj teeb rau hauv qhov chaw kub kub;
- Kev them nyiaj: Lub roj teeb yuav tsum tau them nrog lub roj teeb lithium tshwj xeeb; Cov roj teeb lithium-ion tsis tuaj yeem them qis dua 0 ° C (32 ° F) thiab hloov pauv lossis hloov cov roj teeb qub raug txwv nruj.
Cov lus qhia ntxiv txog kev nyab xeeb
- Yog tias muaj kev tsis txaus siab thaum siv, thov ua raws li phau ntawv qhia ntsig txog lossis sab laj cov neeg ua haujlwm muaj feem cuam tshuam;
- Ua ntej siv, ua tib zoo saib xyuas thaj chaw, thiab zam kev ua haujlwm tsis zoo uas yuav ua rau muaj teeb meem kev nyab xeeb ntawm cov neeg ua haujlwm;
- Thaum muaj xwm txheej ceev, nias lub pob nres thaum muaj xwm ceev thiab lub hwj chim tawm ntawm cov khoom siv;
- Yog tias tsis muaj kev txhawb nqa thiab kev tso cai, thov tsis txhob hloov kho cov khoom siv sab hauv
Kev ua haujlwm ib puag ncig
- Kev khiav hauj lwm kub ntawm TRACER sab nraum zoov yog -10 ℃ to 45 ℃; thov tsis txhob siv nws hauv qab -10 ℃ thiab siab dua 45 ℃ sab nraum zoov;
- Kev khiav hauj lwm kub ntawm TRACER sab hauv tsev yog 0 ℃ to 42 ℃; thov tsis txhob siv nws hauv qab 0 ℃ thiab siab dua 42 ℃ hauv tsev;
- Cov kev cai rau cov av noo nyob rau hauv ib puag ncig siv TRACER yog: siab tshaj 80%, yam tsawg kawg nkaus 30%;
- Thov tsis txhob siv nyob rau hauv ib puag ncig nrog corrosive thiab flammable gases los yog kaw rau combustible tshuaj;
- Tsis txhob muab tso rau ze ntawm lub tshuab cua sov lossis cov khoom cua sov xws li cov coiled resistors loj, thiab lwm yam .;
- Tsuas yog cov kev hloov kho tshwj xeeb (IP tiv thaiv chav kho mob), TRACER tsis muaj dej pov thawj, yog li thov tsis txhob siv nws nyob rau hauv rainy, snowy los yog dej-accumulated ib puag ncig;
- Qhov siab ntawm qhov pom zoo siv ib puag ncig yuav tsum tsis pub tshaj 1,000m;
- Qhov kub sib txawv nruab hnub thiab hmo ntuj ntawm qhov pom zoo siv ib puag ncig yuav tsum tsis txhob tshaj 25 ℃;
Hluav taws xob / txuas txuas
- Thaum tuav thiab teeb tsa, thov tsis txhob poob los yog tso lub tsheb rau pem hauv ntej;
- Rau cov uas tsis yog cov kws tshaj lij, thov tsis txhob cuam tshuam lub tsheb yam tsis tau tso cai.
Lwm sau ntawv
- Thaum tuav thiab teeb tsa, thov tsis txhob poob los yog tso lub tsheb rau pem hauv ntej;
- Rau cov uas tsis yog cov kws tshaj lij, thov tsis txhob cuam tshuam lub tsheb yam tsis tau tso cai
Q&A
- Q: TRACER tau pib ua kom raug, tab sis vim li cas RC transmitter tsis tuaj yeem tswj lub tsheb lub cev txav mus los?
A: Ua ntej, xyuas seb lub zog tsav lub zog puas nyob rau hauv ib txwm muaj, seb lub tshuab hluav taws xob fais fab puas raug nias thiab seb E-stop keyboards raug tso tawm; Tom qab ntawd, xyuas seb hom kev tswj hwm xaiv nrog rau sab laug sab laug xaiv hloov ntawm RC transmitter puas yog. - Q: TRACER cov chaw taws teeb tswj nyob rau hauv ib txwm muaj, thiab cov ntaub ntawv hais txog chassis xwm txheej thiab kev txav tuaj yeem tau txais kom raug, tab sis thaum cov txheej txheem tswj hwm tau tshaj tawm, vim li cas lub tsheb lub cev tswj tsis tuaj yeem hloov pauv thiab lub chassis teb rau cov txheej txheem tswj hwm. ?
A: Feem ntau, yog TRACER tuaj yeem tswj tau los ntawm RC transmitter, nws txhais tau hais tias lub chassis txav tau raug tswj kom raug; yog hais tias lub chassis tawm tswv yim ncej tuaj yeem lees txais, nws txhais tau tias CAN txuas txuas ntxiv yog nyob rau hauv ib txwm muaj. Thov tshawb xyuas CAN tswj thav duab xa mus saib seb cov ntaub ntawv txheeb xyuas puas yog thiab seb hom tswj puas nyob hauv hom kev tswj hwm. - Q: TRACER muab lub suab "beep-beep-beep ..." hauv kev ua haujlwm, yuav ua li cas daws qhov teeb meem no?
A: Yog tias TRACER muab qhov "beep-beep-beep" suab tsis tu ncua, nws txhais tau tias lub roj teeb nyob hauv lub tswb nrovtage xeev. Thov them lub roj teeb rau lub sijhawm. Thaum lwm qhov cuam tshuam lub suab tshwm sim, tej zaum yuav muaj teeb meem sab hauv. Koj tuaj yeem tshawb xyuas cov lej yuam kev ntawm CAN tsheb npav lossis sib txuas lus nrog cov neeg ua haujlwm muaj feem cuam tshuam. - Q: Thaum kev sib txuas lus tau siv los ntawm CAN tsheb npav, chassis tawm tswv yim hais kom raug, tab sis vim li cas lub tsheb tsis teb rau cov lus txib?
A: Muaj kev sib txuas lus tiv thaiv kev sib txuas lus hauv TRACER, uas txhais tau hais tias lub chassis tau muab kev tiv thaiv lub sijhawm thaum ua haujlwm sab nraud CAN tswj cov lus txib. Piv txwv tias lub tsheb tau txais ib qho kev sib txuas lus raws tu qauv, tab sis nws tsis tau txais cov kab lus txuas ntxiv ntawm kev tswj hwm tom qab 500ms. Nyob rau hauv cov ntaub ntawv no, nws yuav nkag mus rau kev sib txuas lus tiv thaiv hom thiab teem lub ceev mus rau 0. Yog li ntawd, cov lus txib los ntawm lub computer sab sauv yuav tsum tau muab tawm ib ntus.
Khoom Dimensions
Daim duab kos duab ntawm cov khoom sab nraud
- gr@generationrobots.com
- +33 5 56 39 37 05
- www.generationrobots.com
Cov ntaub ntawv / Cov ntaub ntawv
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TRACER AgileX Robotics Team Autonomous Mobile Robot [ua pdf] Tus neeg siv phau ntawv AgileX Robotics Team Autonomous Mobile Robot, AgileX, Robotics Team Autonomous Mobile Robot, Autonomous Mobile Robot, Txawb Neeg Hlau |
